Application of Interacting Models to Estimate the Gait Speed of an Exoskeleton User
Roopak M. Karulkar,Patrick M. Wensing,Roopak M. Karulkar,Patrick M. Wensing
This paper outlines steps toward a framework for model-based user intent detection to enable fluent human-robot interaction in assistive exoskeletons. An interacting multi-model (IMM) estimation scheme is presented to address state estimation for lower-extremity exoskeletons and to handle their hybrid dynamics. The proposed IMM scheme includes new approaches that enable it to estimate states of hy...
